Acquisitions and Dispositions - Dispositions (Details) - USD ($) $ in Millions		12 Months Ended
	Jan. 01, 2020	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Gain on sale of business		$ 0.0	$ 0.0	$ 4.1
Disposal Group, Not Discontinued Operation, Gain (Loss) on Disposal, Statement of Income or Comprehensive Income [Extensible Enumeration]				Interest and other nonoperating income (expense)
French security services company
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Disposal Date	Jan. 01, 2020
Percent of shares sold	100.00%
Net sales price	$ 11.0
Gain on sale of business				$ 4.5
Annual revenues					$ 3.0